WO2024116352A1 - Power converter control device and power converter - Google Patents

Abstract

This power converter control device controls a power converter for performing power conversion between a DC power supply and a motor and comprises: a magnetic flux command value generation unit that obtains a magnetic flux command value on the basis of a torque command value; a current command value generation unit that obtains, on the basis of the torque command value and the magnetic flux command value, a current command value for controlling the motor; and a current command value adjustment unit that adjusts the current command value on the basis of the torque command value, a rotation detection value indicating the rotational speed of the motor, and a DC voltage value indicating the output voltage of the DC power supply.

Description

Power converter control device and power converter

The present invention relates to a power converter control device and a power converter.

A motor control device is known that performs vector control of an AC motor based on the d-axis and q-axis. A motor control device that performs such vector control generates a d-axis current command value id* and a q-axis current command value iq*, and controls the drive of the AC motor based on these d-axis current command value id* and q-axis current command value iq*. For example, Patent Document 1 discloses a motor control method for an electric vehicle that performs the above-mentioned vector control. The motor control method for an electric vehicle disclosed in Patent Document 1 generates a magnetic flux command value from a torque command value, and further determines a current command value based on a map that shows the relationship between the torque command value, the magnetic flux command value, and the current command value (the d-axis current command value id* and the q-axis current command value iq*).

Japanese Patent No. 6192263

However, in a motor actually mounted on a vehicle, the MTPA (Maximum Torque Per Ampere) line may change or the center point of the magnetic flux limit circle may change depending on the motor rotation speed and the output voltage of the DC power supply. In other words, in a motor actually mounted on a vehicle, the response characteristics to the torque command value change depending on both the rotation speed and the output voltage of the DC power supply. For this reason, when the current command value is calculated from a single map based on the torque command value and the magnetic flux command value as in Patent Document 1, the difference between the torque command value and the output torque may become large. Therefore, the electric vehicle motor control method disclosed in Patent Document 1 may have difficulty in ensuring the accuracy of the output torque relative to the torque command value.

The present invention was made in consideration of the above-mentioned problems, and aims to improve the accuracy of the output torque relative to the torque command value when controlling a motor.

The present invention adopts the following configuration as a means for solving the above problems.

One aspect of the present invention is a power converter control device that controls a power converter that performs power conversion between a DC power source and a motor, and is configured to include a magnetic flux command value generation unit that determines a magnetic flux command value based on a torque command value, a current command value generation unit that determines a current command value for controlling the motor based on the torque command value and the magnetic flux command value, and a current command value adjustment unit that adjusts the current command value based on the torque command value, a rotation detection value that indicates the rotation speed of the motor, and a DC voltage value that indicates the output voltage of the DC power source.

In one aspect of the present invention, a current command value generated by a current command value generation unit is adjusted by a current command value adjustment unit. The current command value adjustment unit adjusts the current command value based on a rotation detection value indicating the motor's rotation speed and a DC voltage value indicating the output voltage of a DC power supply, in addition to the torque command value. Therefore, in one aspect of the present invention, the current command value can be adjusted according to both the rotation detection value and the DC voltage value. Therefore, the present invention can reduce the difference between the torque command value and the output torque even when the motor's rotation speed and DC voltage value change, and can improve the accuracy of the output torque relative to the torque command value.

1 is a circuit diagram showing a schematic configuration of a motor control device according to a first embodiment of the present invention; 1 is a block diagram showing a functional configuration of a power converter control device according to a first embodiment of the present invention; FIG. 2 is a block diagram showing a functional configuration of a torque control unit in the first embodiment of the present invention. FIG. 2 is a block diagram showing a functional configuration of a magnetic flux command value generating unit in the first embodiment of the present invention. FIG. 4 is a conceptual diagram of a current command value map in the first embodiment of the present invention. 3 is a block diagram showing a functional configuration of a current command value adjusting unit in the first embodiment of the present invention. FIG. FIG. 4 is a conceptual diagram of an adjustment value map in the first embodiment of the present invention. 1 is a schematic diagram for explaining the operation and effect of the power converter control device in the first embodiment of the present invention; 1 is a schematic diagram for explaining the operation and effect of the power converter control device in the first embodiment of the present invention; 1 is a schematic diagram for explaining the operation and effect of the power converter control device in the first embodiment of the present invention; FIG. 11 is a block diagram showing a functional configuration of a power converter control device according to a second embodiment of the present invention.

Below, an embodiment of a power converter control device and a power conversion device according to the present invention will be described with reference to the drawings.

FIG. 1 is a circuit diagram showing a schematic configuration of a motor control device 1 (power conversion device) according to this embodiment. As shown in this diagram, the motor control device 1 includes a power converter 2 and a power converter control device 3.

The power converter 2 is disposed between the motor M and the battery P (DC power source) and performs power conversion between the motor M and the battery P. As shown in FIG. 1, the power converter 2 includes a step-up/step-down converter 2a, a drive inverter 2b, and a power generation inverter 2c. The step-up/step-down converter 2a steps up the DC voltage output from the battery P at a predetermined step-up ratio. The step-up/step-down converter 2a steps down the DC voltage output from the drive inverter 2b or the power generation inverter 2c at a predetermined step-down ratio. As shown in FIG. 1, the step-up/step-down converter 2a includes, for example, a plurality of capacitors, a transformer, and a plurality of power semiconductor elements for transformation. As the power semiconductor elements, IGBTs (Insulated Gate Bipolar Transistors) and SiC-MOSFETs (Metal Oxide Semiconductor Field Effect Transistors) can be used.

Such a buck-boost converter 2a is a power circuit known as a magnetically coupled interleaved chopper circuit. The buck-boost converter 2a selectively performs a boost operation in which it boosts the DC power input from the battery P via a pair of battery terminals and outputs it to the drive inverter 2b, and a step-down operation in which it steps down the DC power input from the drive inverter 2b or the power generation inverter 2c and outputs it to the battery P via a pair of battery terminals. In other words, the buck-boost converter 2a is a power conversion circuit that inputs and outputs DC power in both directions between the battery P and the drive inverter 2b or the power generation inverter 2c.

The drive inverter 2b converts the DC power output from the battery P into AC power based on a PWM (Pulse Width Modulation) signal from the power converter control device 3 and supplies it to the motor M. The drive inverter 2b also converts the AC power output from the motor M into DC power based on the PWM signal from the power converter control device 3 and supplies it to the step-up/step-down converter 2a. As shown in FIG. 1, such a drive inverter 2b has three switching legs and is equipped with a total of six drive power semiconductor elements.

Such a drive inverter 2b has three (multiple) switching legs corresponding to the number of phases of the motor M. This drive inverter 2b is a power conversion circuit that selectively performs a power running operation and a regenerative operation. That is, the drive inverter 2b selectively performs a power running operation in which the DC power input from the step-up/step-down converter 2a is converted into three-phase AC power and output to the motor M via three motor terminals, and a regenerative operation in which the three-phase AC power input from the motor M is converted into DC power via the three motor terminals and output to the step-up/step-down converter 2a. That is, the drive inverter 2b is a power circuit that converts DC power and three-phase AC power between the step-up/step-down converter 2a and the motor M.

The power generation inverter 2c converts the AC power output from the generator G into DC power based on a PWM signal from the power converter control device 3 and supplies it to the step-up/step-down converter 2a. Like the drive inverter 2b, this power generation inverter 2c also has three switching legs and is equipped with a total of six drive power semiconductor elements.

Such a power generation inverter 2c has three (multiple) switching legs corresponding to the number of phases of the generator G. This power generation inverter 2c is a power conversion circuit that converts three-phase AC power input from the generator G via three generator terminals into DC power and outputs it to the step-up/step-down converter 2a. In other words, this power generation inverter 2c is a power circuit that converts DC power and three-phase AC power between the step-up/step-down converter 2a and the generator G.

As shown in the figure, a battery P, a motor M, and a generator G are each connected to such a power converter 2. The power converter 2 has a pair of battery terminals (positive battery terminal E1 and negative battery terminal E2) to which the battery P is connected as terminals for external connection. The power converter 2 also has three motor terminals (U-phase motor terminal Fu, V-phase motor terminal Fv, and W-phase motor terminal Fw) to which the motor M is connected. The power converter 2 also has three generator terminals (U-phase generator terminal Hu, V-phase generator terminal Hv, and W-phase generator terminal Hw) to which the generator G is connected.

The motor control device 1 equipped with such a power converter 2 is an electrical device provided in electric vehicles such as hybrid cars and electric automobiles, and controls the motor M, which is a rotating electric machine, and also controls the charging of the battery P with the AC power generated by the generator G. In other words, this motor control device 1 controls the drive of the motor M based on the output of the battery P (battery power) and controls the charging of the battery P based on the output power (generated power) of the generator G.

The motor control device 1 can also be configured so that the power converter 2 does not include a power generation inverter 2c, and the generator G is not connected to the power converter 2. In this case, the motor control device 1 does not control the charging of the battery P based on the output power (generated power) of the generator G, but instead controls the drive of the motor M based on the output of the battery P (battery power).

As shown in the figure, the battery P has a positive electrode connected to the positive battery terminal E1 and a negative electrode connected to the negative battery terminal E2. This battery P is a secondary battery such as a lithium ion battery, and discharges DC power to the motor control device 1 and charges DC power via the motor control device 1.

Motor M is a three-phase motor with three phases, and is the load of drive inverter 2b. This motor M has a U-phase input terminal connected to U-phase motor terminal Fu, a V-phase input terminal connected to V-phase motor terminal Fv, and a W-phase input terminal connected to W-phase motor terminal Fw. The rotating shaft (drive shaft) of this motor M is connected to the wheels of an electric vehicle, and rotational power is applied to the wheels to drive the wheels.

The generator G is a three-phase generator with a U-phase output terminal connected to the U-phase generator terminal Hu, a V-phase output terminal connected to the V-phase generator terminal Hv, and a W-phase output terminal connected to the W-phase generator terminal Hw. This generator G is connected to the output shaft of a power source such as an engine mounted on an electric vehicle, and outputs three-phase AC power to the motor control device 1.

The power converter control device 3 includes a gate driver and an ECU (Electronic Control Unit). The gate driver is a circuit that generates a gate signal based on various duty command values (transformation duty command value, drive duty command value, and power generation duty command value) input from the ECU. For example, the gate driver generates a gate signal to be supplied to the step-up/step-down converter 2a based on the transformation duty command value input from the ECU. The gate driver also generates a gate signal to be supplied to the drive inverter 2b based on the drive duty command value input from the ECU. The gate driver also generates a gate signal to be supplied to the power generation inverter 2c based on the power generation duty command value input from the ECU.

The ECU is a control circuit that performs a predetermined control process based on a control program stored in advance. This ECU outputs various duty command values (transformation duty command value, drive duty command value, and power generation duty command value) generated based on the above control process to the gate driver. Such an ECU controls the drive of the motor M and the charging of the battery P via the power converter 2 and the gate driver. That is, this ECU generates various duty command values (transformation duty command value, drive duty command value, and power generation duty command value) for the step-up/step-down converter 2a, the drive inverter 2b, and the power generation inverter 2c based on the detection values (voltage detection values) of the voltage sensors and the detection values (current detection values) of the current sensors that are additionally provided to the step-up/step-down converter 2a, the drive inverter 2b, and the power generation inverter 2c, as well as operation information of the electric vehicle, etc.

The power converter control device 3 also includes a storage unit 3a, as shown in FIG. 1. The storage unit 3a stores the above-mentioned control programs and various data. In this embodiment, the storage unit 3a stores a current command value map Ma, as shown in FIG. 1. The current command value map Ma is a map used when the power converter control device 3 determines a current command value for controlling the motor M. This current command value map Ma will be described in detail later.

The memory unit 3a also stores an adjustment value map Mb. The adjustment value map Mb is a map used when setting an adjustment value for adjusting the current command value. This adjustment value map Mb will also be described in detail later.

FIG. 2 is a block diagram showing the functional configuration of the power converter control device 3. In addition to the power converter 2 and the power converter control device 3, the motor control device 1 includes a current sensor 4, a rotation angle sensor 5, and a voltage sensor 6, as shown in FIG. 2.

The current sensor 4 detects each phase current between the motor M and the power converter 2, and outputs the detection result to the power converter control device 3. Note that multiple current sensors 4 may be provided between the power converter 2 and the motor M, or may be provided inside the power converter 2. The current sensor 4 is not particularly limited as long as it is configured to detect the phase current of each phase, but may include, for example, a current transformer (CT) with a transformer or a Hall element. The current sensor 4 may also be a shunt resistor.

The rotation angle sensor 5 detects the rotation angle of the motor M. The rotation angle of the motor M is the electrical angle of the rotor from a predetermined reference rotation position. The rotation angle sensor 5 outputs a detection signal indicating the detected rotation angle to the power converter control device 3. For example, the rotation angle sensor 5 may include a resolver. The rotation speed of the motor M (motor rotation speed) can be calculated based on the detection signal output from the rotation angle sensor 5. In other words, the rotation angle sensor 5 outputs a detection signal that includes the motor rotation speed as information.

The voltage sensor 6 detects the output voltage of the battery P. In FIG. 2, the voltage sensor 6 is shown separated from the battery P, but in reality, the voltage sensor 6 is connected to the wiring connected to the battery P, and outputs the voltage value between the positive and negative electrodes as a DC bus voltage value (DC voltage detection value Vdcf). This DC voltage detection value Vdcf is a DC voltage value that indicates the output voltage of the battery P, which is a DC power source.

The power converter control device 3 includes a torque control unit 11, a current detection unit 12, a three-phase/dq conversion unit 13, an angular velocity calculation unit 14, a current control unit 15, a dq/three-phase conversion unit 16, and a PWM control unit 17 as functional units embodied by, for example, the above-mentioned gate driver and ECU.

The torque control unit 11 receives an uncompensated torque command value T* from the outside. Based on the uncompensated torque command value T*, the torque control unit 11 generates a d-axis current command value id*, which is the target value of the d-axis current of the motor M, and a q-axis current command value iq*, which is the target value of the q-axis current of the motor M. The torque control unit 11 also outputs the generated d-axis current command value id* and q-axis current command value iq* to the current control unit 15.

FIG. 3 is a block diagram showing the functional configuration of the torque control unit 11. As shown in this figure, in this embodiment, the torque control unit 11 includes a torque command value generation unit 10, a magnetic flux command value generation unit 20, a current command value generation unit 30, a current command value adjustment unit 40, and a rotation speed calculation unit 50.

The torque command value generating unit 10 generates a compensated torque command value Tecmp* from the pre-compensated torque command value T* based on the torque feedback value calculated based on the state of the motor M. The method of calculating the torque feedback value is not particularly limited. For example, the torque feedback value can be obtained based on a value indicating the state of the motor M (e.g., the state of the output torque or the temperature state) acquired by a detector (not shown). The compensated torque command value Tecmp* is a torque command value obtained by correcting the pre-compensated torque command value T* to match the actual output torque based on the torque feedback value.

In this embodiment, the compensated torque command value Tecmp* is input to the magnetic flux command value generating unit 20 and the current command value adjusting unit 40 as a torque command value. However, it is not necessarily necessary to generate the compensated torque command value Tecmp* from the pre-compensated torque command value T*. In other words, it is also possible to input the pre-compensated torque command value T* as a torque command value to the magnetic flux command value generating unit 20 and the current command value adjusting unit 40. In such a case, it is also possible not to provide the torque command value generating unit 10.

The flux command value generating unit 20 generates a flux command value (in this embodiment, a compensated flux command value Φocmp*, which will be described later) based on the compensated torque command value Tecmp*. FIG. 4 is a block diagram of the flux command value generating unit 20. As shown in this figure, the flux command value generating unit 20 includes a flux linkage command calculator 21, a flux linkage command limit calculator 22, a flux linkage command limit restricting unit 23, a flux linkage calculator 24, a PI controller 25, a flux linkage compensation limit calculator 26, and a flux linkage compensation limit restricting unit 27.

The flux linkage command calculator 21 calculates a pre-compensation flux linkage command value Φo* (pre-compensation flux command value) based on the compensated torque command value Tecmp*. For example, the motor rotation speed Nf (rotation detection value) indicating the rotation speed of the motor M is input to the flux linkage command calculator 21 from the rotation speed calculation unit 50 shown in FIG. 3. This motor rotation speed Nf is a value calculated by the rotation speed calculation unit 50 based on the angular speed ω, as described below. Furthermore, the angular speed ω is calculated based on the output value of the rotation angle sensor 5. Therefore, the motor rotation speed Nf is a rotation detection value indicating the rotation speed of the motor M. Similarly, the angular speed ω is also a rotation detection value indicating the rotation speed of the motor M.

The flux linkage command calculator 21 also receives the DC voltage detection value Vdcf. For example, the flux linkage command calculator 21 determines the modulation factor coefficient gmref used in the power converter 2 based on a map that determines the modulation factor coefficient gmref using the compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf as parameters. Furthermore, the flux linkage command calculator 21 calculates the pre-compensation flux linkage command value Φo* based on the modulation factor coefficient gmref, the motor speed Nf, and the DC voltage detection value Vdcf.

The flux linkage command calculator 21 also calculates the flux estimation error αε based on the modulation factor coefficient gmref, the compensated torque command value Tecmp*, the angular velocity ω, the DC voltage detection value Vdcf, the d-axis current command value id* (current command value), the q-axis current command value iq* (current command value), and the armature resistance minimum value Ramin. The flux linkage command calculator 21 also calculates the pre-compensation flux linkage command value Φo* using the flux estimation error αε.

The following formula (1) is an example of a formula for calculating the flux estimation error αε. In addition, Δεfx in formula (1) can be calculated, for example, by the following formula (2). In addition, the pre-compensation interlinkage flux command value Φo* can be calculated, for example, by the following formula (3). Note that kν1ω in formulas (1) and (3) is a value obtained by the following formula (4). Note that the armature resistance minimum value Ramin is stored in advance, for example, in the memory unit 3a.

 

 

 

 

For example, the flux linkage command calculator 21 calculates the flux estimation error αε based on equations (1) and (2). The flux linkage command calculator 21 also calculates the pre-compensation flux linkage command value Φo* based on equation (3).

The flux linkage command limit calculator 22 calculates a flux linkage command upper limit Φomax and a flux linkage command lower limit Φomin based on the compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf. The flux linkage command upper limit Φomax (maximum flux linkage value) is the maximum flux linkage value that can be set for the compensated torque command value Tecmp*, assuming that field control is possible. The flux linkage command lower limit Φomin is the minimum flux linkage value that can be set for the compensated torque command value Tecmp*, assuming that field control is possible.

For example, the flux linkage command limit calculator 22 determines the flux linkage command upper limit value Φomax based on a flux linkage limit map for field control that indicates the maximum value of the flux linkage command value for each value of the compensated torque command value Tecmp*. Note that the flux linkage command lower limit value Φomin may be a predetermined value instead of being calculated.

The flux linkage command limit restriction unit 23 restricts the upper and lower limits of the pre-compensation flux linkage command value Φo* calculated by the flux linkage command limit calculator 21 based on the flux linkage command upper limit value Φomax and the flux linkage command lower limit value Φomin calculated by the flux linkage command limit calculator 22. In other words, when the pre-compensation flux linkage command value Φo* input from the flux linkage command calculator 21 is greater than the flux linkage command upper limit value Φomax, the flux linkage command limit restriction unit 23 replaces the value of the pre-compensation flux linkage command value Φo* with the value of the flux linkage command upper limit value Φomax and outputs it. In addition, when the pre-compensation flux linkage command value Φo* input from the flux linkage command calculator 21 is smaller than the flux linkage command lower limit value Φomin, the flux linkage command limiter 23 replaces the value of the pre-compensation flux linkage command value Φo* with the value of the flux linkage command lower limit value Φomin and outputs it. The pre-compensation flux linkage command value Φo* output from the flux linkage command limiter 23 is referred to as the pre-compensation flux linkage command value Φoff*.

The flux linkage calculator 24 calculates the flux linkage feedback value Φof (flux feedback value) based on the angular velocity ω. For example, the voltage command value V* (d-axis voltage command value Vd* and q-axis voltage command value Vq*) is fed back to the flux linkage calculator 24 from the current control unit 15 shown in FIG. 2. The flux linkage calculator 24 calculates the flux linkage feedback value Φof based on the angular velocity ω indicating the current motor rotation speed input from the angular velocity calculator 14 and the current voltage command value V* input from the current control unit 15.

The PI controller 25 calculates the flux compensation value dΦobuf* based on the deviation Φoerr between the pre-compensation flux linkage command value Φoff* and the flux linkage feedback value Φof. The deviation Φoerr calculated by the subtractor 28 is input. The subtractor 28 calculates the deviation Φoerr by subtracting the flux linkage feedback value Φof input via a low-pass filter (LPF) from the pre-compensation flux linkage command value Φoff* input via a low-pass filter (LPF).

The PI controller 25 calculates the magnetic flux compensation value dΦobuf* by adding together a value obtained by multiplying the deviation Φoerr by the proportional gain and a value obtained by multiplying the deviation Φoerr by the integral gain and then integrating the result. In this way, the PI controller 25 calculates the magnetic flux compensation value dΦobuf* based on an operation using the proportional gain and an operation using the integral gain.

Furthermore, feedback anti-windup processing may be performed so that the integral term does not saturate. In this case, a value is obtained by subtracting the flux compensation value dΦo* (described later) output from the flux linkage compensation limiter 27 from the pre-compensation flux linkage command value Φoff* output from the PI controller 25. This value is then multiplied by the reciprocal of the proportional gain used in the PI controller 25 to obtain a value, which is then subtracted from the deviation Φoerr, and the integral gain is then multiplied as described above.

The flux linkage compensation limit calculator 26 calculates the limit value used in the flux linkage compensation limit limiter 27. Here, the flux linkage compensation limiter 27 calculates an upper limit value dΦomax that limits the upper limit value of the flux compensation value dΦobuf*. The calculated upper limit value dΦomax is supplied to the flux linkage compensation limiter 27. The flux linkage compensation limit calculator 26 also calculates a lower limit value dΦomin that limits the lower limit value of the flux compensation value dΦobuf*. The calculated lower limit value dΦomin is supplied to the flux linkage compensation limiter 27.

For example, the flux linkage compensation limit calculator 26 calculates the upper limit value dΦomax and the lower limit value dΦomin based on the pre-compensation flux linkage command value Φo* input from the flux linkage command calculator 21 and the flux linkage command upper limit value Φomax input from the flux linkage command limit calculator 22.

The limitation of the flux compensation value dΦobuf* by the flux linkage compensation limit limiting unit 27 described later is useful when performing field weakening control on the motor M. Furthermore, when the pre-compensation flux linkage command value Φo* is smaller than the flux linkage command upper limit value Φomax, it can be determined that field weakening control is necessary. Therefore, when the pre-compensation flux linkage command value Φo* is smaller than the flux linkage command upper limit value Φomax, the flux linkage compensation limit calculator 26 calculates the upper limit value dΦomax and the lower limit value dΦomin so that the upper and lower limits of the flux compensation value dΦobuf* are limited. In other words, when the pre-compensation flux linkage command value Φo* is greater than the flux linkage command upper limit value Φomax and field weakening control is not necessary, the flux linkage compensation limit calculator 26 sets the upper limit value dΦomax and the lower limit value dΦomin so that the upper and lower limits of the flux compensation value dΦobuf* are zero.

The flux linkage compensation limit calculator 26 may calculate the upper limit value dΦomax and the lower limit value dΦomin using the pre-compensation flux linkage command value Φoff* output from the flux linkage command limiter 23 instead of the pre-compensation flux linkage command value Φo*. The upper limit value dΦomax and the lower limit value dΦomin may also be calculated using the pre-compensation flux linkage command value Φo* and the pre-compensation flux linkage command value Φoff*.

The flux linkage compensation limit restricting unit 27 restricts the upper and lower limits of the flux compensation value dΦobuf* based on the limit values. Here, the flux linkage compensation limit restricting unit 27 restricts the upper and lower limits of the flux compensation value dΦobuf* based on the upper limit value dΦomax and the lower limit value dΦomamin input from the flux linkage compensation limit calculator 26.

In other words, when the flux compensation value dΦobuf* input from the PI controller 25 is greater than the upper limit value dΦomax, the interlinkage flux compensation limiter 27 replaces the value of the flux compensation value dΦobuf* with the upper limit value dΦomax and outputs it. Also, when the flux compensation value dΦobuf* input from the PI controller 25 is smaller than the lower limit value dΦomin, the interlinkage flux compensation limiter 27 replaces the value of the flux compensation value dΦobuf* with the lower limit value dΦomin and outputs it. The flux compensation value dΦobuf* output from the interlinkage flux compensation limiter 27 is referred to as the flux compensation value dΦo*.

Also, as shown in FIG. 4, the flux command value generating unit 20 includes an adder 29 that adds the pre-compensation flux linkage command value Φoff* and the flux compensation value dΦo* to calculate and output the post-compensation flux command value Φocmp*. In other words, the adder 29 calculates the post-compensation flux command value Φocmp* from the pre-compensation flux linkage command value Φoff* based on the flux compensation value dΦo*.

In the flux command value generating unit 20 configured in this manner, the compensated torque command value Tecmp*, the motor speed Nf, the angular speed ω, and the DC voltage detection value Vdcf are input to the flux linkage command calculator 21. The flux linkage command calculator 21 determines the pre-compensation flux linkage command value Φo* based on the compensated torque command value Tecmp*, the motor speed Nf, the angular speed ω, and the DC voltage detection value Vdcf.

Meanwhile, the compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf are also input to the flux linkage command limit calculator 22. The flux linkage command limit calculator 22 determines the flux linkage command upper limit value Φomax and the flux linkage command lower limit value Φomin based on the compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf.

The pre-compensation flux linkage command value Φo* is limited in the flux linkage command limiter 23 based on the flux linkage command upper limit value Φomax or the flux linkage command lower limit value Φomin as necessary, and is output as the pre-compensation flux linkage command value Φoff*.

Furthermore, the angular velocity ω and the voltage command value V* are input to the flux linkage calculator 24. The flux linkage calculator 24 calculates the flux linkage feedback value Φof based on the angular velocity ω and the voltage command value V*.

The pre-compensation flux linkage command value Φoff* is input to the subtractor 28 via a low-pass filter. The flux linkage feedback value Φof is also input to the subtractor 28 via a low-pass filter. The subtractor 28 calculates the deviation Φoerr by subtracting the flux linkage feedback value Φof from the pre-compensation flux linkage command value Φoff*.

The deviation Φoerr is input to the PI controller 25. The PI controller 25 calculates the magnetic flux compensation value dΦobuf* by adding a value obtained by multiplying the deviation Φoerr by a proportional gain and a value obtained by multiplying the deviation Φoerr by an integral gain and then integrating the result.

Meanwhile, the pre-compensation flux linkage command value Φo* output from the flux linkage command calculator 21 and the flux linkage command upper limit value Φomax output from the flux linkage command limit calculator 22 are input to the flux linkage compensation limit calculator 26. The flux linkage compensation limit calculator 26 calculates an upper limit value dΦomax that limits the upper limit of the flux compensation value dΦobuf* based on the pre-compensation flux linkage command value Φo* and the flux linkage command upper limit value Φomax. The flux linkage compensation limit calculator 26 also calculates a lower limit value dΦomin that limits the lower limit of the flux compensation value dΦobuf* based on the pre-compensation flux linkage command value Φo* and the flux linkage command upper limit value Φomax.

The flux compensation value dΦobuf* output from the PI controller 25 is limited in the flux linkage compensation limiter 27 based on the upper limit value dΦomax or the lower limit value dΦomin as necessary, and is output as the flux compensation value dΦo*.

The pre-compensation flux linkage command value Φoff* output from the flux linkage command limit limiter 23 and the flux compensation value dΦo* output from the flux linkage compensation limiter 27 are input to an adder 29. The adder 29 adds the pre-compensation flux linkage command value Φoff* and the flux compensation value dΦo* to calculate a post-compensation flux command value Φocmp*. The calculated post-compensation flux command value Φocmp* is input to a current command value generator 30 shown in FIG. 3.

In this embodiment, this post-compensation flux command value Φocmp* is input to the current command value generation unit 30 as the flux command value. In other words, in this embodiment, the flux command value calculated using the interlinkage flux feedback value Φof (flux feedback value) is input to the current command value generation unit 30. Therefore, the current command value generation unit 30 can calculate the pre-adjustment current command values (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) described below, including the components caused by the interlinkage flux feedback value Φof. However, it is also possible to input the pre-compensation flux linkage command value Φoff* to the current command value generation unit 30 as the flux command value.

The current command value generating unit 30 determines the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* based on the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*. Here, the current command value generating unit 30 determines the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* based on the current command value map Ma stored in the memory unit 3a.

FIG. 5 is a conceptual diagram of the current command value map Ma. As shown in FIG. 5, the current command value map Ma is a two-dimensional map with the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp* as parameters. In the current command value map Ma, the pre-adjustment d-axis current command value idbase* and the pre-compensated q-axis current command value iqbase* are associated with the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*. The current command value generator 30 refers to this current command value map Ma to determine the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* based on the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*.

The current command value adjustment unit 40 determines the d-axis current command value id* and the q-axis current command value iq* by adjusting the pre-adjustment d-axis current command value and the q-axis current command value (the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*) based on the input compensated torque command value Tecmp*, motor rotation speed Nf, and DC voltage detection value Vdcf. In other words, in this embodiment, the d-axis current command value id* and the q-axis current command value iq* are the d-axis current command value and the q-axis current command value adjusted by the current command value adjustment unit 40.

FIG. 6 is a block diagram showing the functional configuration of the current command value adjustment unit 40. As shown in this figure, the current command value adjustment unit 40 has an adjustment value setting unit 41 and an adder 42 (adder-subtracter).

The adjustment value setting unit 41 sets an adjustment value based on the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf. The adjustment value setting unit 41 sets an adjustment value based on the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf, with reference to the adjustment value map Mb stored in the memory unit.

FIG. 7 is a conceptual diagram of the adjustment value map Mb. As shown in FIG. 7, the adjustment value map Mb is a three-dimensional map in which a plurality of two-dimensional maps M1 are provided according to the DC voltage value. For example, one two-dimensional map M1 is provided for each 1V DC voltage value. Note that the number of V of the DC voltage for which the two-dimensional map M1 is provided can be changed arbitrarily. Each two-dimensional map M1 is a map with the compensated torque command value Tecmp* and the motor speed Nf as parameters. In addition, in each two-dimensional map M1, the adjustment value (d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) is associated with the compensated torque command value Tecmp* and the motor speed Nf. The adjustment value setting unit 41 refers to such an adjustment value map Mb and sets the adjustment value based on the compensated torque command value Tecmp*, the motor speed Nf, and the DC voltage detection value Vdcf.

These adjustment values are determined in advance by experiments and simulations. Depending on the values of the compensated torque command value Tecmp*, the motor rotation speed Nf, or the DC voltage detection value Vdcf, there may be cases where the d-axis current command value and the q-axis current command value do not need to be changed by adjustment. For this reason, the adjustment value that meets the condition where the d-axis current command value and the q-axis current command value do not need to be changed by adjustment is set to "0". When the adjustment value is "0", the values of the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* do not change due to adjustment, and are output from the current command value adjustment unit 40 as the d-axis current command value id* and the q-axis current command value iq*.

The adder 42 adds the adjustment value to the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*. The adder 42 adds the d-axis current adjustment value idadj* to the pre-adjustment d-axis current command value idbase*. The adder 42 also adds the q-axis current adjustment value iqadj* to the pre-adjustment q-axis current command value iqbase*. The d-axis current command value id* is obtained by adding the d-axis current adjustment value idadj* to the pre-adjustment d-axis current command value idbase*. The q-axis current command value iq* is obtained by adding the q-axis current adjustment value iqadj* to the pre-adjustment q-axis current command value iqbase*. The adjustment value may be set as a value to be subtracted from the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*. In such a case, a subtractor is provided instead of the adder 42.

The rotation speed calculation unit 50 calculates the motor rotation speed Nf from the angular speed ω input from the angular speed calculation unit 14. The rotation speed calculation unit 50 may also calculate the motor rotation speed Nf from the electrical angle acquired from the rotation angle sensor 5. The rotation speed calculation unit 50 outputs the calculated motor rotation speed Nf to the magnetic flux command value generation unit 20 and the current command value adjustment unit 40.

In this embodiment, the torque control unit 11 includes a rotation speed calculation unit 50. However, it is also possible to provide the rotation speed calculation unit 50 outside the torque control unit 11. It is also possible to change the motor rotation speed Nf, which is one of the parameters of the current command value map Ma, to the angular speed ω. In other words, the current command value map Ma may be any map in which the rotation detection value indicating the motor rotation speed, such as the motor rotation speed Nf or the angular speed ω, is used as a parameter. For example, when changing the motor rotation speed Nf, which is one of the parameters of the current command value map Ma, to the angular speed ω, it is not necessary to input the motor rotation speed Nf calculated by the rotation speed calculation unit 50 to the current command value adjustment unit 40.

Returning to FIG. 2, the current detection unit 12 detects the current value iu flowing through the U-phase coil of the motor M (hereinafter referred to as the "U-phase current value"), the current value iv flowing through the V-phase coil of the motor M (hereinafter referred to as the "V-phase current value"), and the current value iw flowing through the W-phase coil of the motor M (hereinafter referred to as the "W-phase current value") from the detection results of each current sensor 4. The current detection unit 12 then outputs the detected U-phase current value iu, V-phase current value iv, and W-phase current value iw to the three-phase/dq conversion unit 13.

The three-phase/dq conversion unit 13 converts the U-phase current value iu, the V-phase current value iv, and the W-phase current value iw obtained from the current detection unit 12 into a d-axis current value id and a q-axis current value iq in the dq coordinate system using the electrical angle obtained from the rotation angle sensor 5. The three-phase/dq conversion unit 13 outputs the d-axis current value id and the q-axis current value iq to the current control unit 15.

The angular velocity calculation unit 14 calculates the angular velocity ω (rotation detection value) based on the electrical angle of the motor M output from the rotation angle sensor 5. The angular velocity calculation unit 14 outputs the calculated angular velocity ω to the current control unit 15. The current control unit 15 calculates the d-axis voltage command value Vd* based on the d-axis current command value id*. The current control unit 15 calculates the q-axis voltage command value Vq* based on the q-axis current command value iq*. The current control unit 15 outputs the d-axis voltage command value Vd* and the q-axis voltage command value Vq* to the dq/three-phase conversion unit 16.

The dq/three-phase converter 16 obtains the electrical angle from the rotation angle sensor 5. The dq/three-phase converter 16 obtains the d-axis voltage command value Vd* and the q-axis voltage command value Vq* from the current controller 15. The dq/three-phase converter 16 converts the d-axis voltage command value Vd* and the q-axis voltage command value Vq* into a U-phase voltage command value Vu*, a V-phase voltage command value Vv*, and a W-phase voltage command value Vw*, which are voltage command values for the UVW phases of the motor M, using the electrical angle. The dq/three-phase converter 16 then outputs the U-phase voltage command value Vu*, the V-phase voltage command value Vv*, and the W-phase voltage command value Vw* to the PWM controller 17. The U-phase voltage command value Vu*, the V-phase voltage command value Vv*, and the W-phase voltage command value Vw* are modulated waves, and may be referred to as "voltage command signals" when they are not distinguished from one another.

The PWM control unit 17 compares the carrier wave of a predetermined carrier frequency with the voltage command signal. Then, as a result of the comparison, the PWM control unit 17 outputs a Hi level signal during a period when the amplitude of the voltage command signal is greater than that of the carrier wave, and outputs a Lo level signal during a period when the amplitude of the voltage command signal is smaller than that of the carrier wave, thereby outputting a PWM signal to the power converter 2. The PWM control unit 17 compares the carrier wave with the U-phase voltage command value Vu* to generate a PWM signal Du and outputs it to the power converter 2. The PWM control unit 17 compares the carrier wave with the V-phase voltage command value Vv* to generate a PWM signal Dv and outputs it to the power converter 2. The PWM control unit 17 compares the carrier wave with the W-phase voltage command value Vw* to generate a PWM signal Dw and outputs it to the power converter 2.

The power converter 2 is driven based on the PWM signals (the above-mentioned PWM signals Du, Dv, and Dw) input from the PWM control unit 17, thereby controlling the rotation of the motor M.

In the motor control device 1 of this embodiment, the torque command value generating unit 10 generates a compensated torque command value Tecmp* from the pre-compensated torque command value T* based on the torque feedback value. The compensated torque command value Tecmp* is input to the flux command value generating unit 20, the current command value generating unit 30, and the current command value adjusting unit 40. The flux command value generating unit 20 generates a compensated flux command value Φocmp* based on the compensated torque command value Tecmp*. The compensated flux command value Φocmp* is input to the current command value generating unit 30.

In the current command value generating unit 30, the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase* are calculated based on the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*. These pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase* are input to the current command value adjusting unit 40. In the current command value adjusting unit 40, the d-axis current command value id* and the q-axis current command value iq* are calculated based on the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf.

The power converter control device 3 provided in the motor control device 1 of this embodiment as described above controls the power converter 2 that performs power conversion between the battery P and the motor M. The power converter control device 3 of this embodiment includes a flux command value generating unit 20, a current command value generating unit 30, and a current command value adjusting unit 40. The flux command value generating unit 20 determines a compensated flux command value Φocmp* based on the compensated torque command value Tecmp*. The current command value generating unit 30 determines current command values (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) for controlling the motor M based on the compensated torque command value Tecmp* and the compensated flux command value Φocmp*. The current command value adjustment unit 40 adjusts the current command values (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) based on the compensated torque command value Tecmp*, the motor rotation speed Nf indicating the rotation speed of the motor M, and the DC voltage detection value Vdcf indicating the output voltage of the battery P.

As described above, the power converter control device 3 of this embodiment adjusts the current command values (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) generated by the current command value generation unit 30 in the current command value adjustment unit 40. The current command value adjustment unit 40 adjusts the current command value based on the motor rotation speed Nf indicating the rotation speed of the motor M and the DC voltage detection value Vdcf indicating the output voltage of the battery P in addition to the compensated torque command value Tecmp*. Therefore, the power converter control device 3 of this embodiment can adjust the current command value according to both the motor rotation speed Nf and the DC voltage detection value Vdcf. Therefore, the power converter control device 3 of this embodiment can reduce the difference between the compensated torque command value Tecmp* and the output torque even if the motor M rotation speed and the DC voltage detection value Vdcf change, and can improve the accuracy of the output torque relative to the compensated torque command value Tecmp*.

Also, for example, when the compensated torque command value Tecmp* is a value between a plurality of values (grid points) set in the current command value map Ma, linear interpolation is performed to obtain the d-axis current command value id* and the q-axis current command value iq*. At this time, if the compensated torque command value Tecmp* is not a value obtained by linear interpolation of two lattice points (i.e., it is not located on a line connecting two lattice points), the search for a point where it converges in the magnetic flux feedback process continues, and it is considered that the d-axis current command value id* and the q-axis current command value iq* cannot converge. In such a case, the d-axis current command value id* and the q-axis current command value iq* become unstable and oscillate, and the output torque becomes unstable. In contrast, according to the power converter control device 3 of this embodiment, the d-axis current command value id* and the q-axis current command value iq* can be adjusted to converge using an adjustment value, making it possible to stabilize the output torque.

8 and 9 are schematic diagrams for explaining the action and effect of the power converter control device 3 of this embodiment. FIG. 8 and FIG. 9 are schematic diagrams showing the transition of the current operating point in the id-iq plane. For example, as shown in FIG. 8, when the motor M is driven at maximum output, the current operating point transitions so as to follow the minimum current maximum torque line (MTPA line) that provides the highest efficiency. If such a minimum current maximum torque line is set in the control so as to be only one line independent of the motor rotation speed Nf or the output voltage of the battery P, torque accuracy cannot be ensured when the actual minimum current maximum torque line changes as shown by the dashed line in FIG. 8 depending on the state of the motor rotation speed Nf or the output voltage of the battery P. In contrast, in the power converter control device 3 of this embodiment, different minimum current maximum torque lines can be set in the control depending on the state of the motor rotation speed Nf or the output voltage of the battery P. Therefore, it is possible to ensure torque accuracy even if the motor rotation speed Nf or the output voltage of the battery P changes.

As shown in FIG. 9, when the motor M is subjected to field-weakening control, the current operating point shifts to follow the magnetic flux limit circle. When the motor rotation speed Nf is low or the output voltage of the battery P is low, the position of the actual magnetic flux limit circle changes as shown by the dashed line in FIG. 9. In this case, if there is only one magnetic flux limit circle in the control, torque accuracy cannot be ensured if the actual magnetic flux limit circle changes as shown by the dashed line in FIG. 9 depending on the state of the motor rotation speed Nf or the output voltage of the battery P. In contrast, the power converter control device 3 of this embodiment can set different magnetic flux limit circles in the control depending on the state of the motor rotation speed Nf or the output voltage of the battery P. Therefore, it is possible to ensure torque accuracy even when the motor rotation speed Nf or the output voltage of the battery P is low.

Figure 10 is a graph showing the relationship between the motor rotation speed Nf and the actual output torque Te of the motor M. As shown in this figure, in the region R1 where the output torque Te is close to 0 Nm, it is difficult to ensure torque accuracy when controlling using a single two-dimensional map with the motor rotation speed and magnetic flux command value as parameters.

As shown in FIG. 10, in region R2 where the motor rotation speed Nf is low, the torque command value generating unit 10 may determine the torque command value without using the torque feedback value. In such a case, it is difficult to ensure torque accuracy when controlling using a single two-dimensional map with the motor rotation speed and magnetic flux command value as parameters.

In the power converter control device 3 of this embodiment, even in the region R1 or region R2 shown in FIG. 10, different magnetic flux limiting circles can be set in a controlled manner depending on the motor rotation speed Nf and the state of the output voltage of the battery P. Therefore, even in the region R1 or region R2 shown in FIG. 10, it is possible to ensure torque accuracy.

In addition, in the power converter control device 3 of this embodiment, the current command value adjustment unit 40 includes an adjustment value setting unit 41 and an adder 42. The adjustment value setting unit 41 sets an adjustment value based on the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf. The adder 42 adds the adjustment value to the current command value.

In the power converter control device 3 of this embodiment, the current command value can be adjusted by simply adding the adjustment value to the current command value. Therefore, the power converter control device 3 of this embodiment can ensure torque accuracy while suppressing the amount of calculation.

The power converter control device 3 of the above embodiment also includes a storage unit 3a. The storage unit 3a stores an adjustment value map Mb that indicates the relationship between the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf, and the adjustment value. The adjustment value setting unit 41 also sets the adjustment value based on the adjustment value map Mb.

The power converter control device 3 of this embodiment can easily set the adjustment value by referring to the adjustment value map Mb. Therefore, the power converter control device 3 of this embodiment can easily determine the current command value.

Also, for example, by using the adjustment value map Mb, it is possible to set the adjustment value finely in a range where the torque accuracy is likely to decrease, and set the adjustment value coarsely in a range where the torque accuracy is unlikely to decrease. Setting the adjustment value finely means setting many adjustment values in a certain change range of the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf in the adjustment value map Mb. In this way, by setting the adjustment value finer in a range where the torque accuracy is likely to decrease than in a range where the torque accuracy is unlikely to decrease, the storage capacity of the adjustment value map Mb can be reduced. This makes it possible to reduce the storage area allocated to the adjustment value map Mb in the storage unit 3a, and other data, etc. can be stored in the storage unit 3a. For example, in recent vehicles, the storage capacity of the storage unit 3a has increased in order to be compatible with OTA (Over The Air: a function for updating programs wirelessly). The power converter control device 3 of this embodiment makes it possible to store the adjustment value map Mb in the storage unit 3a even in such vehicles that are compatible with OTA.

The power converter control device 3 of this embodiment also includes a torque command value generation unit 10. The torque command value generation unit 10 is capable of determining the compensated torque command value Tecmp* using a torque feedback value calculated based on the state of the motor M. Furthermore, when the torque command value generation unit 10 determines the compensated torque command value Tecmp* without using the torque feedback value, the current command value adjustment unit 40 changes the value of the current command value. This makes it possible to ensure torque accuracy even when the torque command value generation unit 10 determines the compensated torque command value Tecmp* without using the torque feedback value.

Furthermore, in the power converter control device 3 of this embodiment, the flux command value generating unit 20 determines the compensated flux command value Φocmp* using the flux feedback value calculated based on the state of the motor M. Therefore, the power converter control device 3 of this embodiment can determine a current command value that reflects the flux linkage feedback value Φof. Therefore, the power converter control device 3 of this embodiment can further improve the torque accuracy.

The motor control device 1 of this embodiment also includes a power converter 2 and a power converter control device 3. Therefore, the motor control device 1 of this embodiment can improve the torque accuracy with respect to the compensated torque command value Tecmp*.

Second Embodiment
Next, a second embodiment of the present invention will be described with reference to Fig. 11. In the description of this embodiment, the description of the same parts as those in the first embodiment will be omitted or simplified.

FIG. 11 is a schematic diagram of the power converter control device 3 of this embodiment. As shown in this figure, in the power converter control device 3 of this embodiment, the memory unit 3a stores a current command value map Mc for MTPA control, a current command value map Md for waste electricity control, an adjustment value map Me for MTPA control, and an adjustment value map Mf for waste electricity control.

The current command value map Mc for MTPA control is a current command value map Ma used to determine a current command value when performing MTPA control (maximum torque/current control) on the motor M. The current command value map Mc for MTPA control is a map in which the current command values based on MTPA control (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) are associated with the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*.

The current command value map Md for waste electricity control is a current command value map Ma used to determine a current command value when waste electricity control (strengthened magnetic field control) is performed on the motor M. The current command value map Md for waste electricity control is a map in which the current command values based on waste electricity control (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) are associated with the compensated torque command value Tecmp* and the compensated magnetic flux command value Φocmp*.

The adjustment value map Me for MTPA control is an adjustment value map Mb used to determine adjustment values when performing MTPA control on the motor M. The adjustment value map Me for MTPA control is a map in which adjustment values (d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) according to the current command value based on MTPA control are associated with the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf.

The waste electricity control adjustment value map Mf is an adjustment value map Mb used to determine adjustment values when waste electricity control is performed on the motor M. The waste electricity control adjustment value map Mf is a map in which adjustment values (d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) according to the current command value based on waste electricity control are associated with the compensated torque command value Tecmp*, the motor rotation speed Nf, and the DC voltage detection value Vdcf.

The current command value generating unit 30 determines the control state of the motor M based on, for example, a signal input from the outside. Specifically, the current command value generating unit 30 determines whether the control state of the motor M is MTPA control or waste electricity control. Similarly, the adjustment value setting unit 41 of the current command value adjusting unit 40 also determines whether the control state of the motor M is MTPA control or waste electricity control.

When the control state of the motor M is MTPA control, the current command value generating unit 30 refers to the current command value map Mc for MTPA control to determine the current command values (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*). When the control state of the motor M is MTPA control, the adjustment value setting unit 41 of the current command value adjusting unit 40 refers to the adjustment value map Me for MTPA control to set the adjustment values (d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*).

On the other hand, when the control state of the motor M is waste electricity control, the current command value generating unit 30 refers to the waste electricity control current command value map Md to determine the current command values (the pre-adjustment d-axis current command value idbase* and the pre-adjustment q-axis current command value iqbase*). Also, when the control state of the motor M is waste electricity control, the adjustment value setting unit 41 of the current command value adjusting unit 40 refers to the waste electricity control adjustment value map Mf to set the adjustment values (the d-axis current adjustment value idadj* and the q-axis current adjustment value iqadj*).

In the power converter control device 3 of this embodiment as described above, the storage unit 3a stores the MTPA control adjustment value map Me as the adjustment value map Mb used when performing MTPA control on the motor M. Furthermore, the adjustment value setting unit 41 sets adjustment values based on the MTPA control adjustment value map Me when performing MTPA control on the motor M. According to the power converter control device 3 of this embodiment, the current command values (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) can be adjusted using adjustment values suitable for MTPA control.

In addition, in the power converter control device 3 of this embodiment, the memory unit 3a stores an adjustment value map Mf for waste electricity control as an adjustment value map Mb used when performing waste electricity control on the motor M. Furthermore, the adjustment value setting unit 41 sets an adjustment value based on the adjustment value map Mf for waste electricity control when performing waste electricity control on the motor M. According to the power converter control device 3 of this embodiment, the current command values (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) can be adjusted using adjustment values suitable for waste electricity control.

In this way, according to the power converter control device 3 of this embodiment, different current command values (pre-adjustment d-axis current command value idbase* and pre-adjustment q-axis current command value iqbase*) and different adjustment values (d-axis current adjustment value idadj* and q-axis current adjustment value iqadj*) are used depending on the control state of the motor M. This makes it possible to perform control appropriate for each of the control states of the motor M.

The above describes a preferred embodiment of the present invention with reference to the attached drawings, but it goes without saying that the present invention is not limited to the above embodiment. The shapes and combinations of the components shown in the above embodiment are merely examples, and various modifications can be made based on design requirements, etc., without departing from the spirit of the present invention.

The above embodiment can also be described as follows, for example:

(Appendix 1)
A power converter control device that controls a power converter that performs power conversion between a DC power source and a motor,
a magnetic flux command value generating unit that calculates a magnetic flux command value based on a torque command value;
a current command value generating unit that calculates a current command value for controlling the motor based on the torque command value and the magnetic flux command value;
a current command value adjustment unit that adjusts the current command value based on the torque command value, a rotation detection value indicating a rotation speed of the motor, and a DC voltage value indicating an output voltage of the DC power supply.

(Appendix 2)
The current command value adjustment unit
an adjustment value setting unit that sets an adjustment value based on the torque command value, the rotation detection value, and the DC voltage value;
an adder/subtractor that adds/subtracts the adjustment value to/from the current command value.

(Appendix 3)
a storage unit configured to store an adjustment value map indicating a relationship between the torque command value, the rotation detection value, and the DC voltage value, and the adjustment value;
The power converter control device according to claim 2, wherein the adjustment value setting unit sets the adjustment value based on the adjustment value map.

(Appendix 4)
the storage unit stores a maximum torque/current control adjustment value map as the adjustment value map used when maximum torque/current control is performed on the motor;
4. The power converter control device according to claim 3, wherein the adjustment value setting unit sets the adjustment value based on a maximum torque/current control adjustment value map when maximum torque/current control is performed on the motor.

(Appendix 5)
the storage unit stores an adjustment value map for strong magnetic field control as the adjustment value map used when performing strong magnetic field control on the motor;
5. The power converter control device according to claim 3, wherein the adjustment value setting unit sets the adjustment value based on a strong magnetic field control adjustment value map when the strong magnetic field control is performed on the motor.

(Appendix 6)
a torque command value generating unit capable of calculating the torque command value by using a torque feedback value calculated based on a state of the motor;
When the torque command value generating unit calculates the torque command value without using a torque feedback value,
The power converter control device according to any one of claims 1 to 5, wherein the current command value adjustment unit changes a value of the current command value.

(Appendix 7)
The magnetic flux command value generating unit
The power converter control device according to any one of claims 1 to 6, further comprising: determining the magnetic flux command value using a magnetic flux feedback value calculated based on a state of the motor.

(Appendix 8)
A power conversion device comprising the power converter and the power converter control device according to any one of appendices 1 to 7.

1...motor control device (power conversion device), 2...power converter, 3...power converter control device, 3a...storage unit, 10...torque command value generation unit, 11...torque control unit, 20...magnetic flux command value generation unit, 30...current command value generation unit, 40...current command value adjustment unit, 41...adjustment value setting unit, 42...adder (adder-subtractor), 50...rotation speed calculation unit

Claims (8)

1. A power converter control device that controls a power converter that performs power conversion between a DC power source and a motor,
   a magnetic flux command value generating unit that calculates a magnetic flux command value based on a torque command value;
   a current command value generating unit that calculates a current command value for controlling the motor based on the torque command value and the magnetic flux command value;
   a current command value adjustment unit that adjusts the current command value based on the torque command value, a rotation detection value indicating a rotation speed of the motor, and a DC voltage value indicating an output voltage of the DC power supply.
2. The current command value adjustment unit
   an adjustment value setting unit that sets an adjustment value based on the torque command value, the rotation detection value, and the DC voltage value;
   The power converter control device according to claim 1 , further comprising: an adder/subtractor that adds/subtracts the adjustment value to/from the current command value.
3. a storage unit configured to store an adjustment value map indicating a relationship between the torque command value, the rotation detection value, and the DC voltage value, and the adjustment value;
   The power converter control device according to claim 2 , wherein the adjustment value setting unit sets the adjustment value based on the adjustment value map.
4. the storage unit stores a maximum torque/current control adjustment value map as the adjustment value map used when maximum torque/current control is performed on the motor;
   4. The power converter control device according to claim 3, wherein the adjustment value setting unit sets the adjustment value based on a maximum torque/current control adjustment value map when maximum torque/current control is performed on the motor.
5. the storage unit stores an adjustment value map for strong magnetic field control as the adjustment value map used when performing strong magnetic field control on the motor;
   5. The power converter control device according to claim 3, wherein the adjustment value setting unit sets the adjustment value based on a strong magnetic field control adjustment value map when the strong magnetic field control is performed on the motor.
6. a torque command value generating unit capable of calculating the torque command value by using a torque feedback value calculated based on a state of the motor;
   When the torque command value generating unit calculates the torque command value without using a torque feedback value,
   5. The power converter control device according to claim 1, wherein the current command value adjustment unit changes a value of the current command value.
7. The magnetic flux command value generating unit
   5. The power converter control device according to claim 1, wherein the magnetic flux command value is determined using a magnetic flux feedback value calculated based on a state of the motor.
8. A power conversion device comprising the power converter and the power converter control device according to any one of claims 1 to 4.

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